US5757949A - Warning system for vehicle - Google Patents

Warning system for vehicle Download PDF

Info

Publication number
US5757949A
US5757949A US08591005 US59100596A US5757949A US 5757949 A US5757949 A US 5757949A US 08591005 US08591005 US 08591005 US 59100596 A US59100596 A US 59100596A US 5757949 A US5757949 A US 5757949A
Authority
US
Grant status
Grant
Patent type
Prior art keywords
curve
vehicle
signal
warning
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US08591005
Inventor
Masahiro Kinoshita
Atsushi Ikeda
Kazumasa Arai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Subaru Corp
Original Assignee
Subaru Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Grant date

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00Vehicle fittings, acting on a single sub-unit only, for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008Vehicle fittings, acting on a single sub-unit only, for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path

Abstract

A warning system estimates the possibility of the off-course travel of a vehicle while traveling through a curve before the vehicle enters the curve and gives the driver a warning properly. The warning system comprises an image recognizing means for obtaining three-dimensional image data on the road extending ahead of the vehicle and the traffic environment lying ahead of the same by recognizing conditions of the road and the traffic, a curve detecting means for detecting a curve on the basis of the image data before the vehicle enters the curve, a turning speed calculating means for calculating a reference turning speed at which average drivers will drive the vehicle traveling the curve on the basis of the radius of curvature of the curve and the width of the lane represented by the image data, a relative curve sharpness detecting means for deciding whether or not the relative sharpness of the curve is critical by comparing the reference turning speed with the actual traveling speed of the vehicle, and an off-course travel estimating means for deciding, when the relative sharpness detecting means decides that the relative sharpness of the curve is critical, whether or not the driver has carried out danger avoiding operations from signals indicating decelerating operations, and, if any danger avoiding operation is not executed, deciding that off-course travel is possible and giving a warning.

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a warning system for a vehicle, such as an automobile, for assisting the driver of a vehicle while the vehicle is traveling and, more specifically, to a warning system to prevent the deviation of the vehicle from an intended course while the vehicle is traveling a curve.

2. Description of the Related Art

Recently, an ADA system (Active Drive Assist system), i.e., a comprehensive driver assisting system for actively assisting the driver in driving a vehicle, has been developed in an attempt to enhance the safety of vehicles to cope with progressively increasing traffic accidents. The recognition of the conditions of the surroundings is an essential function of the ADA system. Recent advanced technology has made possible the three-dimensional recognition of road conditions and traffic conditions in a practically effective accuracy and time by processing image information about a scene lying ahead of the vehicle acquired by a plurality of cameras. The ADA system is intended to assist the driver to drive a vehicle safely in many respects by using image data on road conditions and traffic conditions when the driver fails in correct driving operations, when the driver looks aside and/or when the driver dozes off at the wheel during monotonous driving.

A previously proposed drive assistance system is based on a conception that every operation of a vehicle is to be controlled by a man and intends preventive security for avoiding expected dangers. The driver assistance system gives a warning to warn and the driver against an expected danger to assist the driver when a car collision or off-course travel is expected and, if the driver does not take appropriate measures to avoid danger in response to the warning, carriers out operations temporarily for the driver to avoid a car collision or off-course travel by automatically controlling the brake system, the throttle and/or the steering system to return the condition to safety.

The warning provided by the ADA system is very important for estimating various possible conditions and enhancing preventive security. Therefore, it is necessary to warn properly to enable the driver to take danger avoiding measures by deciding the situation and accurately estimating a possible condition. Off-course travel at a sharp curve is one of the possible conditions. Particularly, off-course travel is liable to occur while the vehicle traveling a sharply curved exit ramp immediately after leaving a lane of a highway, because the driver's sense of speed is numbed and it is desirable to give an appropriate warning against such off-course travel.

A warning system that gives an warning against off-course travel that occurs at a sharp curve is disclosed, for example, in JP-U No. 5-46612. This prior art warning system decides the condition of a vehicle from the relationship between steering angle and transverse acceleration and, for example, when the warning system decides that both the traveling speed and the transverse acceleration is increasing during a turning travel at a fixed steering angle, the warning system gives a warning to prevent off-course travel due to an excessively high traveling speed.

However, since the prior art warning systems makes a decision after detecting an actual acceleration acting on the vehicle in a turning travel, the prior art warning system is unable to estimates possible off-course travel before the vehicle enters a curve. Since the curvature of curves and the width of lanes are not detected, the accuracy of the decision is unsatisfactory.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide a warning system for a vehicle, capable of estimating the possibility of off-course travel before the vehicle enters a curve and of properly giving a warning against off-course travel.

According to a first aspect of the present invention, a warning system for a vehicle comprises an image recognizing means for obtaining three-dimensional image data on road conditions and traffic conditions by recognizing the road extending ahead of the vehicle and traffic conditions, a curve detecting means for detecting a curve on the basis of the image data before the vehicle enters the curve, a turning speed calculating means for calculating a reference turning speed at which average drivers will drive the vehicle traveling the curve on the basis of the radius of curvature of the curve and the width of the lane represented by the image data, a relative curve sharpness detecting means for deciding whether or not the relative sharpness of the curve is critical by comparing the reference turning speed with the actual traveling speed of the vehicle, and an off-course travel estimating means for deciding, when the relative sharpness detecting means decides that the relative sharpness of the curve is critical, whether or not the driver has carried out danger avoiding operations from signals indicating decelerating operations and, if any danger avoiding operation has not been executed, deciding that off-curse travel is possible and giving a warning.

According to a second aspect of the present invention, the off-course travel estimating means calculates a deceleration necessary for decelerating the vehicle to a turning speed before the vehicle enters the curve when it is decided that the relative sharpness of the curve is critical, and estimates the possibility of off-course travel when the actual deceleration is lower than the calculated necessary deceleration.

The image recognizing means continuously recognizes the road extending ahead of the vehicle and traffic conditions while the vehicle is traveling, and the curve detecting means detects the condition of the curve accurately on the basis of the image data provided by the image recognizing means before the vehicle enters the curve, and then the curve traveling speed calculating means calculates a reference curve traveling speed at which average drivers will drive the vehicle traveling the curve on the basis of the curvature and the width of the lane represented by the image data to determine appropriate curve traveling speeds for curves of different curvatures accurately to prevent off-course travel. Thus, a sharp curve on which off-course travel will possibly occur if the vehicle enters the curve at the actual traveling speed higher than the reference curve traveling speed can be accurately detected. When a sharp curve is detected, the off-course travel estimating means decides whether or not a danger avoiding operation has been carried out on the basis of a signal provided by an accelerator sensor, a brake signal provided by a brake switch and a deceleration signal provided by a traveling speed sensor and, if the driver fails to carry out a danger avoiding operation carelessly or mistakenly and the vehicle is not decelerated, estimates the possibility of off-course travel and gives the driver a warning to cell drivers attention before it becomes too late to execute a danger avoiding operation so that the vehicle enters the curve at a normal traveling speed.

When the off-course travel estimating means decide that the relative sharpness of the curve is critical, the possibility of off-course travel is estimated accurately, a deceleration necessary for decelerating the vehicle to the reference curve traveling speed is calculated, the actual speed is compared with the reference curve traveling speed and, if the driver's danger avoiding operation is not satisfactory, a warning is given.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the present invention will become more apparent from the following description taken in connection with the accompanying drawings, in which:

FIG. 1 is a block diagram of a warning system is accordance with the present invention;

FIG. 2 is a partial diagrammatic block diagram of an ADA system in combination with a vehicle;

FIG. 3 is a block diagram of a warning system in a first embodiment according to the present invention;

FIG. 4 is a flowchart of a warning control program to be executed by the warning system of FIG. 3;

FIG. 5 is a diagrammatic view of assistance in explaining the configuration of a curve;

FIG. 6 is a block diagram of a warning system in a second embodiment according to the present invention; and

FIG. 7 is a warning control program to be executed by the warning system of FIG. 6.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIG. 2, a vehicle 1 has an engine 2 operatively connected through a clutch 4, a transmission 5, a propeller shaft 6, a rear differential 7 and rear axle 8 to rear wheels 9, and through the propeller shaft 6, a center differential 17, a front differential 18 and front axles 19 to front wheels 10 to drive the front wheels 10 and the rear wheels 9 for traveling. The vehicle 1 has an operation control system including an accelerator pedal 11 for operating a throttle valve 3 combined with the engine 2 to regulate the output of the engine 2, a brake system 12 including a brake pedal 13 for regulating the brake line pressure in a brake line 14 for distributing the brake line pressure to wheel cylinders combined with the front wheels 10 and the rear wheels 9, and a steering system 15 including a steering wheel 16 for steering the front wheels 10.

An ADA system 20 is provided with a throttle actuator 21 combined with the throttle valve 3 to reduce the output of the engine 2 forcibly when a throttle signal is given thereto, a brake actuator 22 connected to the brake line 14 of the brake system 12 to regulate the brake line pressure according to a brake signal for automatic braking, and a steering actuator 23 associated with the steering system 15 to control the steering wheel 16 according to a steering signal for automatic steering.

An electronic control system is provided with, for example, two CCD cameras 25 disposed on the right and the left side of the front end, respectively, of the vehicle 1, and an image recognizing unit 26 including a stereographic image processor. The two CCD cameras 25 takes images of scenes and the objects lying ahead of the vehicle 1 in a stereographic images and provides image signals. The image recognizing unit 26 processes the output image signals of the CCD cameras 25 by triangulation to calculate the distances between the vehicle and the objects lying ahead of the vehicle 1, produces a distance picture showing a three-dimensional distance distribution, detects a lane, a preceding vehicle and obstacles separately from the distance picture, recognizes lane marks, the three-dimensional configuration of the road, categorizes objects lying ahead of the vehicle 1, recognizes the distances between the vehicle 1, and the preceding vehicle and the obstacles, and the relative traveling speed of the preceding vehicle, and obtains image data on the road traffic conditions.

An ADA control unit 40 comprises a warning system which estimates various possible conditions and gives a warning, and a vehicle control system which controls the vehicle 1 when the driver fails in executing danger avoiding operations in response to a warning. The vehicle control system calculates an acceleration or deceleration on the basis of the image data and the output signals of sensors so that safe distances are maintained between the vehicle 1 and, for example, the preceding vehicle and road facilitates, and gives a throttle signal specifying a throttle opening corresponding to the calculated acceleration or deceleration to the throttle actuator 21 to control the output of the engine 2. The vehicle control system gives a brake signal specifying an appropriate brake line pressure corresponding to the calculated acceleration or deceleration to the brake actuator 22 for automatic braking. Thus, the safe distances can be maintained or collision can be avoided even if the driver does not operate the vehicle 1 properly or does not carry out danger avoiding operations. The vehicle control system sets a desired course to a position at a set distance on the picture, calculates an estimated course along which the vehicle will travel to the position at the set distance when the current traveling conditions are maintained, gives a steering signal corresponding to the deviation of the estimated course from the desired course to the steering actuator 23 for automatic steering. Thus, collision can be avoided and off-course travel can be prevented even if the driver does not operate the vehicle properly.

The warning operation of the warning system for giving a warning against off-course travel in a curve will be described. The warning system extracts information about the curvature of the curve, the width of the lane and such from the image data before the vehicle 1 enters the curve. The warning system is provided with a traveling speed sensor 30 which detects the traveling speed, an accelerator sensor 31 which detects a decelerating state established by the decelerating operation of the operator, a brake switch 32 which detects the application of the brake system, an acceleration sensor 33 which provides a deceleration signal upon the detection of acceleration, and a warning device which estimates the relative sharpness of the curve before the vehicle 1 enters the curve and, when off-course travel is expected, generates a warning.

A curve sharpness deciding method and a warning operation to be carried out by a warning system in a first embodiment according to the present invention will be described with reference to FIGS. 3 and 4. In step S1, the image recognizing unit 26 processes the image signals provided by the two CCD Cameras 25 while the vehicle 1 is traveling to obtain image data on the road and traffic conditions. A curve detector 41 included in the ADA control unit 40 receives the image data and detects a curve C extending ahead of the vehicle 1 as shown in FIG. 5 in step S2 and, upon the detection of the curve C, reads information about the maximum radius R of curvature of the curve C and the width W of the lane included in the image data at a position before the curve C and the current actual traveling speed Vs detected by the traveling speed sensor 30 in step S3. A radius calculator 42 calculates the maximum turning radius of an out-in-out traveling course using the entire width of the lane in step S4 by using Rc =R+W, where Rc is the maximum turning radius, R is the radius of curvature of the curve C and W is the width of the lane. Then, a turning speed calculator 43 estimates a turning speed Vc at which average drivers will drive the vehicle 1 in traveling the curve C, by using Vc=(Gc •Re)1/2, where Gc is transverse acceleration of, for example, 0.4G, in step S5. Thus, the turning speed Vc that will not cause off-course travel can be accurately determined under different conditions, such as a condition where the radius R of curvature of the curve is large and the width W of the lane is small and a condition where the radius R of curvature is small and the width W of the lane is large.

A curve sharpness deciding device 44 compares the actual traveling speed Vc of the vehicle 1 before the vehicle 1 enters the curve C of the turning speed Vc to decide the relative sharpness of the curve C. When the actual traveling speed Ve is lower than the turning speed Vc, the curve sharpness deciding device 44 decides that the relative sharpness of the curve C is not critical and the control operation is ended. If the actual traveling speed Vc is higher than the turning speed Vc, the curve sharpness deciding device 44 decides that the sharpness of the curve C is critical and will cause off-course travel if the vehicle 1 enters the curve C at the current traveling speed Vs, and the program goes to step S7. When the driver visually recognizes the sharpness of the curve C and is conscious of the current traveling speed Vc and the current traveling speed Vs is held on a low level or when the driver decides that the current traveling speed Vs is excessively high relative to the radius R of curvature of the curve C and the width W of the lane and decelerates the vehicle 1 at an early stage, the relative sharpness of the curve C is small and hence no warning is given. The vehicle 1 enters the curve C at the traveling speed Vc and is able to travel safely through the curve C.

When the curve sharpness deciding device 44 decides that the relative sharpness of the curve C is critical, an off-course travel estimating device 45 checks the output signals of the accelerator sensor 31 and the brake switch 32 indicating deceleration in step S8 to see whether or not the driver has executed danger avoiding operations. If those signals are present, the off-course travel estimating device 45 decides that the driver has executed danger avoiding operations and ends the program. If the signals indicating deceleration are absent, the off-course travel estimating device 45 decides that no danger avoiding operation has been executed and gives a warning in step S9. When the driver recognizes the condition of the curve C and the traveling speed Vs, and executes danger avoiding operations, such as an operation to reduce the output of the engine 2 by releasing the accelerator pedal and an operation to decelerate the vehicle 1 by applying the brake system, no warning is given and the decelerated vehicle 1 travels safely through the curve C.

When the driver does not execute any danger avoiding operations due to carelessness or erroneous recognition, the off-course travel of the vehicle 1 in the curve C is expected and the warning device 34 generates a warning sound to coll driver's attention to the situation. Since the warning sound is generated before the vehicle 1 enters the curve C, there is enough time for the driver to execute danger avoiding operations to decelerate the vehicle in response to the warning before the vehicle 1 enters the curve C and, consequently, the decelerated vehicle 1 enters the curve C whereby off-course travel can be prevented. Thus, the warning system assists the driver in safety driving.

A curve sharpness deciding method and a warning operation to be carried out by a warning system in a second embodiment according to the present invention will be described with reference to FIGS. 6 and 7, in which components like or corresponding to those of the warning system in the first embodiment are designated by the same reference characters and the description thereof will be omitted. Functions of steps S1 through S6 of the control program shown in FIG. 7 to be executed by the second embodiment are the same as those of steps S1 through S6 of the control program shown in FIG. 4 to be executed by the first embodiment and hence the description of those steps will be omitted.

Referring to FIGS. 6 and 7, an acceleration estimating device 46 calculates an acceleration necessary for changing the current traveling speed Vc at a detection position at a set distance L (FIG. 5) from the curve C to a turning speed Vc within the length L by using:

V.sub.c.sup.2 -V.sub.s.sup.2 =2a•L

a=(V.sub.c.sup.2 =V.sub.s.sup.2)/2L

When it is decided that the relative sharpness of the curve C is critical, an off-course travel estimating device 45 compares the necessary acceleration a and the current acceleration A detected by an acceleration sensor 33 in step S8. If A<a>0, off-course travel is possible and a warning is given in step s9. If the driver does not execute the danger avoiding operations in response to the warning or if the vehicles 1 is not decelerated properly by driver's danger avoiding operation and the actual deceleration is lower than the least necessary deceleration, a warning sound is generated. Thus, the possibility of off-course travel can be still more accurately estimated by the additional use of data representing the mode of actual deceleration caused by the driver's danger avoiding operation.

Although the invention has been described in its preferred embodiments, a signal indicating the traveling speed of the vehicle may be used instead of the deceleration signal indicating the deceleration caused by driver's danger avoiding operation. The warning device 34 that generates a warning sound employed in the preferred embodiments to give the driver a warning may be any warning device other than the warning device 34, such as a display disposed within a driver's field of view or a vibration generator set in the seat cushion or the seat back of the driver's seat, provided that the warning device is capable of effectively stimulating driver's senses.

As is apparent from the foregoing description, the warning system for a vehicle according to a first aspect of the present invention, comprises the image recognizing means for obtaining image data on road conditions and traffic conditions by three-dimensionally recognizing the road extending ahead of the vehicle and traffic conditions, the curve detecting means for detecting a curve on the basis of the image data before the vehicle enters the curve, the turning speed calculating means for calculating a reference curve traveling speed at which average drivers will drive the vehicle traveling the curve on the basis of the curvature and the width of the lane represented by the image data, the relative curve sharpness detecting means for deciding whether or not the relative sharpness of the curve is critical by comparing the reference curve traveling speed with the actual traveling speed of the vehicle, and the off-course travel estimating means for deciding, when the sharp curve detecting means decides that the relative sharpness of the curve is critical, whether or not the driver has carried out danger avoiding operations from the conditions of signals indicating decelerating operations and, if any danger avoiding operation has not been executed, deciding that off-course travel is possible and giving a warning. Thus, the warning system is capable of estimating the possibility of off-course travel before the vehicle enters the curve and of surely assisting the driver in safety operation when the vehicle travels through the curve.

Since the turning speed at which average drivers will drive the vehicle when the vehicle travels through the curve is estimated on the basis of the radius of curvature of the curve and the width of the lane and the turning speed is compared with the actual traveling speed of the vehicle before the vehicle enters the curve, a curve of a critical sharpness that will possibly cause off-course travel if the vehicle enters the curve at the current traveling speed can be surely decided. The possibility of off-course travel can be surely estimated through the decision of whether or not the drier has executed danger avoiding operations when the relative sharpness of the curve is decided to be critical. Since whether or not the drier has executed danger avoiding operations can be easily decided from the signals indicating decelerating operations, unnecessary warning is not provided and the reliability of the warning device is enhanced.

According to the second aspect of the present invention, the off-course travel estimating means calculates a deceleration necessary for decelerating the vehicle to a turning speed before the vehicle enters the curve when it is decided that the relative sharpness of the curve is critical, and estimates the possibility of off-course travel when the actual deceleration is lower than the calculated necessary deceleration. Accordingly, the possibility of off-course travel can be further accurately estimated by taking into consideration the mode of deceleration of the vehicle and preventive safety is enhanced.

Although the invention has been described in its preferred form with a certain degree of particularity, obviously many changes and variations are possible therein. It is therefore to be understood that the present invention may be practiced otherwise than as specifically described herein without departing from the scope and spirit thereof.

Claims (2)

What is claimed is:
1. A warning system for a vehicle having at least one wheel, an accelerator pedal, and a brake system with a brake pedal, said warning system comprising:
a pair of cameras mounted on the vehicle for taking a front picture thereof and for generating image signals;
a traveling speed sensor connected with the at least one wheel for detecting a vehicle speed and for producing a traveling speed signal;
an accelerator sensor mounted on the vehicle for detecting a depression degree of the accelerator pedal and for outputting an accelerator signal;
a brake switch connected with the brake system for detecting whether the brake pedal is depressed or not and for generating a brake signal;
an image recognizing means responsive to the picture signal for obtaining three-dimensional image data about road conditions and traffic conditions ahead of the vehicle and for producing a distance picture representing thereof;
a curve detecting means responsive to the distance picture for recognizing a curve in front of the vehicle and for generating a curve signal;
a radius calculating means responsive to the distance picture and curve signal for computing a curvature radius ahead of the vehicle and for outputting a curvature radius signal;
a turning speed calculating means responsive to the curvature radius signal for calculating a turning speed to pass through the curve and for generating a turning speed signal;
a curve sharpness deciding means responsive to the turning speed signal and the traveling speed signal for determining whether the curve is tight or not and for producing a curvature sharpness signal;
an off-course travel estimating means responsive to the accelerator signal, the brake signal and the curvature sharpness signal for judging whether the vehicle will pass through the curve at the turning speed and for outputting a decision signal; and
an alarming device responsive to the decision signal for generating an alarm signal when judged that it is dangerous for the vehicle to pass through the curve at the vehicle speed so as to avoid a dangerous condition before entering the curve.
2. The warning system according to claim 1, wherein:
said off-course determining means calculates a deceleration rate required to properly negotiate the curve and determines that the vehicle will not pass safely pass through the curve when an actual deceleration is lower than the deceleration rate.
US08591005 1995-01-27 1996-01-24 Warning system for vehicle Expired - Lifetime US5757949A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1183695A JPH08205306A (en) 1995-01-27 1995-01-27 Alarm device for car
JP7-011836 1995-01-27

Publications (1)

Publication Number Publication Date
US5757949A true US5757949A (en) 1998-05-26

Family

ID=11788829

Family Applications (1)

Application Number Title Priority Date Filing Date
US08591005 Expired - Lifetime US5757949A (en) 1995-01-27 1996-01-24 Warning system for vehicle

Country Status (3)

Country Link
US (1) US5757949A (en)
JP (1) JPH08205306A (en)
DE (1) DE19602772C2 (en)

Cited By (75)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5922036A (en) * 1996-05-28 1999-07-13 Matsushita Electric Industrial Co., Ltd. Lane detection sensor and navigation system employing the same
US5942972A (en) * 1995-04-06 1999-08-24 Baran Advanced Technologies Early lighting of brake-lights in vehicles
US6208927B1 (en) * 1997-09-10 2001-03-27 Fuji Jukogyo Kabushiki Kaisha Vehicle maneuvering control device
US6219609B1 (en) * 1997-10-21 2001-04-17 Fuji Jukogyo Kabushiki Kaisha Vehicle dynamic control system
US6226571B1 (en) * 1998-06-03 2001-05-01 Mitsubishi Denki Kabushiki Kaisha Surroundings monitoring apparatus for an automotive vehicle
WO2001051891A1 (en) 2000-01-14 2001-07-19 Daimlerchrysler Ag Method and device for evaluating driver performance
US6322477B1 (en) * 1998-10-08 2001-11-27 Luk Getriebe Gmbh Method of and apparatus for influencing the shifting of transmissions in the power trains of motor vehicles
US20020081000A1 (en) * 2000-12-27 2002-06-27 Chul-Bae Ham Curved lane recognizing method in road modeling system
US20030163238A1 (en) * 2002-02-27 2003-08-28 Nissan Motor Co., Ltd. Travel control system for vehicle
US20040049323A1 (en) * 2002-09-05 2004-03-11 Ford Global Technologies, Inc. Haptic seat notification system
US6725145B1 (en) * 1999-09-14 2004-04-20 Fuji Jukogyo Kabushiki Kaisha Curve approach control apparatus
US20040199326A1 (en) * 2003-04-04 2004-10-07 Samsung Electronics Co., Ltd. Navigation system for restrictively outputting warning and warning generating apparatus and method for restrictively outputting warning in a navigation system
US6853902B2 (en) 2000-02-02 2005-02-08 Jaguar Cars Limited Motor vehicle dynamic stability control
US20050052348A1 (en) * 2003-08-22 2005-03-10 Shunpei Yamazaki Light emitting device, driving support system, and helmet
US20050156727A1 (en) * 2004-01-21 2005-07-21 Golder Thomas J. Initial movement indicator system and method for a wheeled ground vehicle
US6926638B1 (en) * 1999-05-03 2005-08-09 Daimlerchrysler Ag Method for carrying out an automated clutch actuation during non-driven operational phases
US20050201593A1 (en) * 2004-03-09 2005-09-15 Mamoru Sawada Vehicle state sensing system and vehicle state sensing method
US20050200467A1 (en) * 2004-03-15 2005-09-15 Anita Au Automatic signaling systems for vehicles
US6950731B1 (en) * 2005-01-31 2005-09-27 Cody Mac English Traffic pattern approach computer
US20050246097A1 (en) * 1999-12-29 2005-11-03 Bellsouth Intellectual Property Corporation G.P.S. management system
US20060131093A1 (en) * 2004-11-26 2006-06-22 Masahiro Egami Driving operation assisting system, method and vehicle incorporating the system
US20070046779A1 (en) * 2003-11-11 2007-03-01 David Sourlier An installation for recording travel and/or traffic
US20070095588A1 (en) * 2002-11-08 2007-05-03 Bernhard Mattes Controlling vehicle dynamics through the use of an image sensor system
US20070120706A1 (en) * 1993-02-26 2007-05-31 Donnelly Corporation Image sensing system for a vehicle
US20090045323A1 (en) * 2007-08-17 2009-02-19 Yuesheng Lu Automatic Headlamp Control System
US20090299616A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify intersections located over hills and enabling precautionary actions in a vehicle
US20090299615A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify insufficient merge lanes along roads and enabling precautionary actions in a vehicle
US20090299624A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify speed changes on upcoming curves along roads and enabling precautionary actions in a vehicle
US20090299626A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify unusually narrow lanes or roads and enabling precautionary actions in a vehicle
US20090299622A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
US20090299630A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify insufficient superelevation along roads and enabling precautionary actions in a vehicle
US20090299625A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US20090300067A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify decreasing radius of curvature along roads and enabling precautionary actions in a vehicle
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
US20100106374A1 (en) * 2008-10-28 2010-04-29 Aisin Aw Co., Ltd. Vehicle stabilization control device
CN101807315A (en) * 2010-04-14 2010-08-18 张华昱 Sensing type automobile driving state recording and warning device
US20100214791A1 (en) * 2006-08-11 2010-08-26 Donnelly Corporation Automatic headlamp control system
US20110178689A1 (en) * 2008-10-28 2011-07-21 Advics Co., Ltd. Device for controlling traveling of vehicle
US8446470B2 (en) 2007-10-04 2013-05-21 Magna Electronics, Inc. Combined RGB and IR imaging sensor
US8451107B2 (en) 2007-09-11 2013-05-28 Magna Electronics, Inc. Imaging system for vehicle
US8531318B2 (en) 2008-05-30 2013-09-10 Navteq B.V. Data mining in a digital map database to identify intersections located at hill bottoms and enabling precautionary actions in a vehicle
US8593521B2 (en) 2004-04-15 2013-11-26 Magna Electronics Inc. Imaging system for vehicle
US8599001B2 (en) 1993-02-26 2013-12-03 Magna Electronics Inc. Vehicular vision system
US8629768B2 (en) 1999-08-12 2014-01-14 Donnelly Corporation Vehicle vision system
US8643724B2 (en) 1996-05-22 2014-02-04 Magna Electronics Inc. Multi-camera vision system for a vehicle
US8665079B2 (en) 2002-05-03 2014-03-04 Magna Electronics Inc. Vision system for vehicle
US8886401B2 (en) 2003-10-14 2014-11-11 Donnelly Corporation Driver assistance system for a vehicle
US8977008B2 (en) 2004-09-30 2015-03-10 Donnelly Corporation Driver assistance system for vehicle
US9014904B2 (en) 2004-12-23 2015-04-21 Magna Electronics Inc. Driver assistance system for vehicle
US9041806B2 (en) 2009-09-01 2015-05-26 Magna Electronics Inc. Imaging and display system for vehicle
US9085261B2 (en) 2011-01-26 2015-07-21 Magna Electronics Inc. Rear vision system with trailer angle detection
US9146898B2 (en) 2011-10-27 2015-09-29 Magna Electronics Inc. Driver assist system with algorithm switching
US9191574B2 (en) 2001-07-31 2015-11-17 Magna Electronics Inc. Vehicular vision system
US9205776B2 (en) 2013-05-21 2015-12-08 Magna Electronics Inc. Vehicle vision system using kinematic model of vehicle motion
US9245448B2 (en) 2001-07-31 2016-01-26 Magna Electronics Inc. Driver assistance system for a vehicle
US9264672B2 (en) 2010-12-22 2016-02-16 Magna Mirrors Of America, Inc. Vision display system for vehicle
US9357208B2 (en) 2011-04-25 2016-05-31 Magna Electronics Inc. Method and system for dynamically calibrating vehicular cameras
US9446713B2 (en) 2012-09-26 2016-09-20 Magna Electronics Inc. Trailer angle detection system
US9491451B2 (en) 2011-11-15 2016-11-08 Magna Electronics Inc. Calibration system and method for vehicular surround vision system
US9491450B2 (en) 2011-08-01 2016-11-08 Magna Electronic Inc. Vehicle camera alignment system
US9487235B2 (en) 2014-04-10 2016-11-08 Magna Electronics Inc. Vehicle control system with adaptive wheel angle correction
US9495876B2 (en) 2009-07-27 2016-11-15 Magna Electronics Inc. Vehicular camera with on-board microcontroller
US9508014B2 (en) 2013-05-06 2016-11-29 Magna Electronics Inc. Vehicular multi-camera vision system
US9558409B2 (en) 2012-09-26 2017-01-31 Magna Electronics Inc. Vehicle vision system with trailer angle detection
US9563951B2 (en) 2013-05-21 2017-02-07 Magna Electronics Inc. Vehicle vision system with targetless camera calibration
US20170116853A1 (en) * 2015-10-26 2017-04-27 Denso Corporation Vehicle driving assistance apparatus
US9723272B2 (en) 2012-10-05 2017-08-01 Magna Electronics Inc. Multi-camera image stitching calibration system
US9762880B2 (en) 2011-12-09 2017-09-12 Magna Electronics Inc. Vehicle vision system with customized display
US9834153B2 (en) 2011-04-25 2017-12-05 Magna Electronics Inc. Method and system for dynamically calibrating vehicular cameras
US9900522B2 (en) 2010-12-01 2018-02-20 Magna Electronics Inc. System and method of establishing a multi-camera image using pixel remapping
US9916660B2 (en) 2015-01-16 2018-03-13 Magna Electronics Inc. Vehicle vision system with calibration algorithm
US10071687B2 (en) 2011-11-28 2018-09-11 Magna Electronics Inc. Vision system for vehicle
US10086870B2 (en) 2015-08-18 2018-10-02 Magna Electronics Inc. Trailer parking assist system for vehicle
US10132971B2 (en) 2016-03-04 2018-11-20 Magna Electronics Inc. Vehicle camera with multiple spectral filters
US10144352B2 (en) 2017-08-14 2018-12-04 Magna Electronics Inc. Vision display system for vehicle

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19704854A1 (en) * 1997-02-10 1998-08-13 Itt Mfg Enterprises Inc Method and apparatus for controlling the longitudinal dynamics of a vehicle
DE19904066A1 (en) * 1999-01-04 2000-07-06 Volkswagen Ag Automobile travel situation parameter detection and display method uses correlation of different parameter values provided by respective sensors to provide single travel situation value
JP3495934B2 (en) * 1999-01-08 2004-02-09 矢崎総業株式会社 Accident prevention system
DE19961871A1 (en) 1999-12-22 2001-07-12 Audi Ag Driver information system of a motor vehicle and for this particular driver information device
DE10203511A1 (en) * 2002-01-30 2003-08-07 Bosch Gmbh Robert Method and apparatus for predictive vehicle dynamics control with respect to the control curve
DE102007040539B4 (en) * 2006-09-04 2014-03-27 Denso Corporation Vehicle control system
JP5124415B2 (en) * 2008-10-10 2013-01-23 日立オートモティブシステムズ株式会社 Travel control device
DE102012011171A1 (en) 2012-06-06 2013-12-12 GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) A method of displaying a recommended speed curve in a vehicle undFahrerassistenzsystem
EP3176062A4 (en) * 2014-07-28 2017-09-20 Robert Bosch GmbH Information providing device and program for motorcycle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5081585A (en) * 1987-06-17 1992-01-14 Nissan Motor Company, Ltd. Control system for autonomous automotive vehicle or the like
US5208750A (en) * 1987-06-17 1993-05-04 Nissan Motor Co., Ltd. Control system for unmanned automotive vehicle
JPH05141979A (en) * 1991-11-18 1993-06-08 Sumitomo Electric Ind Ltd Overspeed predicting device
US5315295A (en) * 1991-01-18 1994-05-24 Mazda Motor Corporation Vehicle speed control system
US5350912A (en) * 1992-01-17 1994-09-27 Honda Giken Kogyo Kabushiki Kaisha System for controlling movement of a mobile body along a target path
US5359666A (en) * 1988-09-28 1994-10-25 Honda Giken Kogyo Kabushiki Kaisha Driving way judging device and method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4201142C2 (en) * 1991-01-18 2001-11-29 Mazda Motor Speed ​​limiting device
DE4124654A1 (en) * 1991-07-25 1993-01-28 Bundesrep Deutschland Continuous automatic vehicle orientation on road - using monocular image and modelling to estimate road curvature and width from geometry and dynamic aspects of scene
DE4332612C2 (en) * 1992-09-25 1996-02-22 Yazaki Corp Outside Ansichts monitoring method for motor vehicles
JPH06150199A (en) * 1992-11-13 1994-05-31 Mitsubishi Electric Corp Preventive safety device for vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5081585A (en) * 1987-06-17 1992-01-14 Nissan Motor Company, Ltd. Control system for autonomous automotive vehicle or the like
US5208750A (en) * 1987-06-17 1993-05-04 Nissan Motor Co., Ltd. Control system for unmanned automotive vehicle
US5359666A (en) * 1988-09-28 1994-10-25 Honda Giken Kogyo Kabushiki Kaisha Driving way judging device and method
US5315295A (en) * 1991-01-18 1994-05-24 Mazda Motor Corporation Vehicle speed control system
JPH05141979A (en) * 1991-11-18 1993-06-08 Sumitomo Electric Ind Ltd Overspeed predicting device
US5350912A (en) * 1992-01-17 1994-09-27 Honda Giken Kogyo Kabushiki Kaisha System for controlling movement of a mobile body along a target path

Cited By (192)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8917169B2 (en) 1993-02-26 2014-12-23 Magna Electronics Inc. Vehicular vision system
US8599001B2 (en) 1993-02-26 2013-12-03 Magna Electronics Inc. Vehicular vision system
US7459664B2 (en) * 1993-02-26 2008-12-02 Donnelly Corporation Image sensing system for a vehicle
US20070120706A1 (en) * 1993-02-26 2007-05-31 Donnelly Corporation Image sensing system for a vehicle
US5942972A (en) * 1995-04-06 1999-08-24 Baran Advanced Technologies Early lighting of brake-lights in vehicles
US7994462B2 (en) 1996-03-25 2011-08-09 Donnelly Corporation Vehicular image sensing system
US8993951B2 (en) 1996-03-25 2015-03-31 Magna Electronics Inc. Driver assistance system for a vehicle
US8492698B2 (en) 1996-03-25 2013-07-23 Donnelly Corporation Driver assistance system for a vehicle
US8481910B2 (en) 1996-03-25 2013-07-09 Donnelly Corporation Vehicular image sensing system
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
US8637801B2 (en) 1996-03-25 2014-01-28 Magna Electronics Inc. Driver assistance system for a vehicle
US8222588B2 (en) 1996-03-25 2012-07-17 Donnelly Corporation Vehicular image sensing system
US8324552B2 (en) 1996-03-25 2012-12-04 Donnelly Corporation Vehicular image sensing system
US8643724B2 (en) 1996-05-22 2014-02-04 Magna Electronics Inc. Multi-camera vision system for a vehicle
US8842176B2 (en) 1996-05-22 2014-09-23 Donnelly Corporation Automatic vehicle exterior light control
US9131120B2 (en) 1996-05-22 2015-09-08 Magna Electronics Inc. Multi-camera vision system for a vehicle
US5922036A (en) * 1996-05-28 1999-07-13 Matsushita Electric Industrial Co., Ltd. Lane detection sensor and navigation system employing the same
US6208927B1 (en) * 1997-09-10 2001-03-27 Fuji Jukogyo Kabushiki Kaisha Vehicle maneuvering control device
US6219609B1 (en) * 1997-10-21 2001-04-17 Fuji Jukogyo Kabushiki Kaisha Vehicle dynamic control system
US6226571B1 (en) * 1998-06-03 2001-05-01 Mitsubishi Denki Kabushiki Kaisha Surroundings monitoring apparatus for an automotive vehicle
US6322477B1 (en) * 1998-10-08 2001-11-27 Luk Getriebe Gmbh Method of and apparatus for influencing the shifting of transmissions in the power trains of motor vehicles
US6926638B1 (en) * 1999-05-03 2005-08-09 Daimlerchrysler Ag Method for carrying out an automated clutch actuation during non-driven operational phases
US8629768B2 (en) 1999-08-12 2014-01-14 Donnelly Corporation Vehicle vision system
US9436880B2 (en) 1999-08-12 2016-09-06 Magna Electronics Inc. Vehicle vision system
US6725145B1 (en) * 1999-09-14 2004-04-20 Fuji Jukogyo Kabushiki Kaisha Curve approach control apparatus
US8478453B2 (en) 1999-12-29 2013-07-02 At&T Intellectual Property I, L.P. Apparatus, systems, and methods for processing alerts relating to an in-vehicle control unit
US20060106537A1 (en) * 1999-12-29 2006-05-18 Bellsouth Intellectual Property Corporation G.P.S. management system
US20050246097A1 (en) * 1999-12-29 2005-11-03 Bellsouth Intellectual Property Corporation G.P.S. management system
US20060253252A1 (en) * 1999-12-29 2006-11-09 Bellsouth Intellectual Property Corporation G. P. S. management system
US8781645B2 (en) 1999-12-29 2014-07-15 At&T Intellectual Property I, L.P. Apparatus, systems, and methods for processing alerts relating to an in-vehicle control unit
US9734698B2 (en) 1999-12-29 2017-08-15 At&T Intellectual Property I, L.P. G.P.S. management system
US9652973B2 (en) 1999-12-29 2017-05-16 At&T Intellectual Property I, L.P. Apparatus, systems, and methods for processing alerts relating to an in-vehicle control unit
US7272493B1 (en) * 1999-12-29 2007-09-18 Bellsouth Intellectual Property Corporation G.P.S. management system
US7366608B2 (en) 1999-12-29 2008-04-29 At&T Delaware Intellectual Property, Inc. G.P.S. management system
US7725218B2 (en) 1999-12-29 2010-05-25 At&T Intellectual Property I, L.P. G.P.S. management system
US8725344B2 (en) 1999-12-29 2014-05-13 At&T Intellectual Property I, L.P. G.P.S. management system
US20090276116A1 (en) * 1999-12-29 2009-11-05 Hamrick Marvin R G.p.s. management system
WO2001051891A1 (en) 2000-01-14 2001-07-19 Daimlerchrysler Ag Method and device for evaluating driver performance
US6957142B2 (en) 2000-01-14 2005-10-18 Daimlerchrysler Ag Method and device for evaluating a driving style
DE10001261C2 (en) * 2000-01-14 2002-11-21 Daimler Chrysler Ag Method and apparatus for driving rating
US20040030458A1 (en) * 2000-01-14 2004-02-12 Volker Entenmann Method and device for evaluating a driving style
US6853902B2 (en) 2000-02-02 2005-02-08 Jaguar Cars Limited Motor vehicle dynamic stability control
US6925194B2 (en) * 2000-12-27 2005-08-02 Hyundai Motor Company Curved lane recognizing method in road modeling system
US20020081000A1 (en) * 2000-12-27 2002-06-27 Chul-Bae Ham Curved lane recognizing method in road modeling system
US9656608B2 (en) 2001-07-31 2017-05-23 Magna Electronics Inc. Driver assist system for vehicle
US9191574B2 (en) 2001-07-31 2015-11-17 Magna Electronics Inc. Vehicular vision system
US9245448B2 (en) 2001-07-31 2016-01-26 Magna Electronics Inc. Driver assistance system for a vehicle
US10046702B2 (en) 2001-07-31 2018-08-14 Magna Electronics Inc. Control system for vehicle
US9463744B2 (en) 2001-07-31 2016-10-11 Magna Electronics Inc. Driver assistance system for a vehicle
US9834142B2 (en) 2001-07-31 2017-12-05 Magna Electronics Inc. Driving assist system for vehicle
US9376060B2 (en) 2001-07-31 2016-06-28 Magna Electronics Inc. Driver assist system for vehicle
US10099610B2 (en) 2001-07-31 2018-10-16 Magna Electronics Inc. Driver assistance system for a vehicle
US20030163238A1 (en) * 2002-02-27 2003-08-28 Nissan Motor Co., Ltd. Travel control system for vehicle
US6868324B2 (en) * 2002-02-27 2005-03-15 Nissan Motor Co., Ltd. Travel control system for vehicle
US8665079B2 (en) 2002-05-03 2014-03-04 Magna Electronics Inc. Vision system for vehicle
US9834216B2 (en) 2002-05-03 2017-12-05 Magna Electronics Inc. Vehicular control system using cameras and radar sensor
US9643605B2 (en) 2002-05-03 2017-05-09 Magna Electronics Inc. Vision system for vehicle
US10118618B2 (en) 2002-05-03 2018-11-06 Magna Electronics Inc. Vehicular control system using cameras and radar sensor
US9171217B2 (en) 2002-05-03 2015-10-27 Magna Electronics Inc. Vision system for vehicle
US9555803B2 (en) 2002-05-03 2017-01-31 Magna Electronics Inc. Driver assistance system for vehicle
US20040049323A1 (en) * 2002-09-05 2004-03-11 Ford Global Technologies, Inc. Haptic seat notification system
US20070095588A1 (en) * 2002-11-08 2007-05-03 Bernhard Mattes Controlling vehicle dynamics through the use of an image sensor system
US8108097B2 (en) * 2002-11-08 2012-01-31 Robert Bosch Gmbh Controlling vehicle dynamics through the use of an image sensor system
US7437241B2 (en) * 2003-04-04 2008-10-14 Samsung Electronics Co., Ltd Navigation system for restrictively outputting warning and warning generating apparatus and method for restrictively outputting warning in a navigation system
US20040199326A1 (en) * 2003-04-04 2004-10-07 Samsung Electronics Co., Ltd. Navigation system for restrictively outputting warning and warning generating apparatus and method for restrictively outputting warning in a navigation system
US8456382B2 (en) 2003-08-22 2013-06-04 Semiconductor Energy Laboratory Co., Ltd. Light emitting device, driving support system, and helmet
US8791878B2 (en) 2003-08-22 2014-07-29 Semiconductor Energy Laboratory Co., Ltd. Light emitting device, driving support system, and helmet
US20050052348A1 (en) * 2003-08-22 2005-03-10 Shunpei Yamazaki Light emitting device, driving support system, and helmet
US7598927B2 (en) * 2003-08-22 2009-10-06 Semiconductor Energy Laboratory Co., Ltd. Light-emitting device, driving support system, and helmet
US8886401B2 (en) 2003-10-14 2014-11-11 Donnelly Corporation Driver assistance system for a vehicle
US20070046779A1 (en) * 2003-11-11 2007-03-01 David Sourlier An installation for recording travel and/or traffic
US20050156727A1 (en) * 2004-01-21 2005-07-21 Golder Thomas J. Initial movement indicator system and method for a wheeled ground vehicle
US6946955B2 (en) 2004-01-21 2005-09-20 Golder Thomas J Initial movement indicator system and method for a wheeled ground vehicle
US20050201593A1 (en) * 2004-03-09 2005-09-15 Mamoru Sawada Vehicle state sensing system and vehicle state sensing method
US7477760B2 (en) 2004-03-09 2009-01-13 Denso Corporation Vehicle state sensing system and vehicle state sensing method
US8378805B2 (en) 2004-03-15 2013-02-19 Anita Au Automatic signaling system for vehicles
US20050200467A1 (en) * 2004-03-15 2005-09-15 Anita Au Automatic signaling systems for vehicles
US9248777B2 (en) 2004-03-15 2016-02-02 Anita Au Automatic signaling system for vehicles
US7986223B2 (en) 2004-03-15 2011-07-26 Anita Au Automatic signaling system for vehicles
US20090189756A1 (en) * 2004-03-15 2009-07-30 Gerald Chan Automatic signaling system for vehicles
US10046696B2 (en) 2004-03-15 2018-08-14 Anita Au Automatic control systems for vehicles
US7482916B2 (en) 2004-03-15 2009-01-27 Anita Au Automatic signaling systems for vehicles
US9505343B2 (en) 2004-03-15 2016-11-29 Anita Au Automatic control systems for vehicles
US8818042B2 (en) 2004-04-15 2014-08-26 Magna Electronics Inc. Driver assistance system for vehicle
US9008369B2 (en) 2004-04-15 2015-04-14 Magna Electronics Inc. Vision system for vehicle
US10015452B1 (en) 2004-04-15 2018-07-03 Magna Electronics Inc. Vehicular control system
US9428192B2 (en) 2004-04-15 2016-08-30 Magna Electronics Inc. Vision system for vehicle
US9948904B2 (en) 2004-04-15 2018-04-17 Magna Electronics Inc. Vision system for vehicle
US10110860B1 (en) 2004-04-15 2018-10-23 Magna Electronics Inc. Vehicular control system
US9609289B2 (en) 2004-04-15 2017-03-28 Magna Electronics Inc. Vision system for vehicle
US9736435B2 (en) 2004-04-15 2017-08-15 Magna Electronics Inc. Vision system for vehicle
US8593521B2 (en) 2004-04-15 2013-11-26 Magna Electronics Inc. Imaging system for vehicle
US9191634B2 (en) 2004-04-15 2015-11-17 Magna Electronics Inc. Vision system for vehicle
US8977008B2 (en) 2004-09-30 2015-03-10 Donnelly Corporation Driver assistance system for vehicle
US7831314B2 (en) * 2004-11-26 2010-11-09 Nissan Motor Co., Ltd. Driving operation assisting system, method and vehicle incorporating the system
US8036781B2 (en) * 2004-11-26 2011-10-11 Nissan Motor Co., Ltd. Driving operation assisting system, method and vehicle incorporating the system
US20060131093A1 (en) * 2004-11-26 2006-06-22 Masahiro Egami Driving operation assisting system, method and vehicle incorporating the system
US20100274438A1 (en) * 2004-11-26 2010-10-28 Nissan Motor Co., Ltd. Driving operation assisting system, method and vehicle incorporating the system
US9193303B2 (en) 2004-12-23 2015-11-24 Magna Electronics Inc. Driver assistance system for vehicle
US9014904B2 (en) 2004-12-23 2015-04-21 Magna Electronics Inc. Driver assistance system for vehicle
US9940528B2 (en) 2004-12-23 2018-04-10 Magna Electronics Inc. Driver assistance system for vehicle
US6950731B1 (en) * 2005-01-31 2005-09-27 Cody Mac English Traffic pattern approach computer
US7972045B2 (en) 2006-08-11 2011-07-05 Donnelly Corporation Automatic headlamp control system
US10071676B2 (en) 2006-08-11 2018-09-11 Magna Electronics Inc. Vision system for vehicle
US20100214791A1 (en) * 2006-08-11 2010-08-26 Donnelly Corporation Automatic headlamp control system
US8434919B2 (en) 2006-08-11 2013-05-07 Donnelly Corporation Adaptive forward lighting system for vehicle
US9440535B2 (en) 2006-08-11 2016-09-13 Magna Electronics Inc. Vision system for vehicle
US8636393B2 (en) 2006-08-11 2014-01-28 Magna Electronics Inc. Driver assistance system for vehicle
US8162518B2 (en) 2006-08-11 2012-04-24 Donnelly Corporation Adaptive forward lighting system for vehicle
US20090045323A1 (en) * 2007-08-17 2009-02-19 Yuesheng Lu Automatic Headlamp Control System
US9018577B2 (en) 2007-08-17 2015-04-28 Magna Electronics Inc. Vehicular imaging system with camera misalignment correction and capturing image data at different resolution levels dependent on distance to object in field of view
US8017898B2 (en) 2007-08-17 2011-09-13 Magna Electronics Inc. Vehicular imaging system in an automatic headlamp control system
US9972100B2 (en) 2007-08-17 2018-05-15 Magna Electronics Inc. Vehicular imaging system comprising an imaging device with a single image sensor and image processor for determining a totally blocked state or partially blocked state of the single image sensor as well as an automatic correction for misalignment of the imaging device
US8451107B2 (en) 2007-09-11 2013-05-28 Magna Electronics, Inc. Imaging system for vehicle
US9796332B2 (en) 2007-09-11 2017-10-24 Magna Electronics Inc. Imaging system for vehicle
US10003755B2 (en) 2007-10-04 2018-06-19 Magna Electronics Inc. Imaging system for vehicle
US8908040B2 (en) 2007-10-04 2014-12-09 Magna Electronics Inc. Imaging system for vehicle
US8446470B2 (en) 2007-10-04 2013-05-21 Magna Electronics, Inc. Combined RGB and IR imaging sensor
US9279688B2 (en) 2008-05-30 2016-03-08 Here Global B.V. Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US9228844B2 (en) 2008-05-30 2016-01-05 Here Global B.V. Data mining in a digital map database to identify insufficient merge lanes along roads and enabling precautionary actions in a vehicle
US8688369B2 (en) 2008-05-30 2014-04-01 Navteq B.V. Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US8698649B2 (en) * 2008-05-30 2014-04-15 Navteq B.V. Data mining in a digital map database to identify decreasing radius of curvature along roads and enabling precautionary actions in a vehicle
US20090299615A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify insufficient merge lanes along roads and enabling precautionary actions in a vehicle
US9182241B2 (en) 2008-05-30 2015-11-10 Here Global B.V. Data mining in a digital map database to identify unusually narrow lanes or roads and enabling precautionary actions in a vehicle
US8775073B2 (en) 2008-05-30 2014-07-08 Navteq B.V. Data mining in a digital map database to identify insufficient merge lanes along roads and enabling precautionary actions in a vehicle
US20090299616A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify intersections located over hills and enabling precautionary actions in a vehicle
US9134133B2 (en) 2008-05-30 2015-09-15 Here Global B.V. Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
US9121716B2 (en) 2008-05-30 2015-09-01 Here Global B.V. Data mining in a digital map database to identify insufficient superelevation along roads and enabling precautionary actions in a vehicle
US20090299624A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify speed changes on upcoming curves along roads and enabling precautionary actions in a vehicle
US9399468B2 (en) 2008-05-30 2016-07-26 Here Global B.V. Data mining in a digital map database to identify intersections located at hill bottoms and enabling precautionary actions in a vehicle
US20090299626A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify unusually narrow lanes or roads and enabling precautionary actions in a vehicle
US10012510B2 (en) 2008-05-30 2018-07-03 Here Global B.V. Data mining in a digital map database to identify decreasing radius of curvature along roads and enabling precautionary actions in a vehicle
US9043127B2 (en) 2008-05-30 2015-05-26 Here Global B.V. Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US9035804B2 (en) 2008-05-30 2015-05-19 Here Global B.V. Data mining in a digital map database to identify intersections located at hill bottoms and enabling precautionary actions in a vehicle
US20090299622A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
US9797735B2 (en) 2008-05-30 2017-10-24 Here Global B.V. Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US20090299630A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify insufficient superelevation along roads and enabling precautionary actions in a vehicle
US9752884B2 (en) 2008-05-30 2017-09-05 Here Global B.V. Data mining in a digital map database to identify insufficient merge lanes along roads and enabling precautionary actions in a vehicle
US9909881B2 (en) 2008-05-30 2018-03-06 Here Global B.V. Data mining in a digital map database to identify insufficient superelevation along roads and enabling precautionary actions in a vehicle
US20090299625A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify blind intersections along roads and enabling precautionary actions in a vehicle
US20090300067A1 (en) * 2008-05-30 2009-12-03 Navteq North America, Llc Data mining in a digital map database to identify decreasing radius of curvature along roads and enabling precautionary actions in a vehicle
US8531318B2 (en) 2008-05-30 2013-09-10 Navteq B.V. Data mining in a digital map database to identify intersections located at hill bottoms and enabling precautionary actions in a vehicle
US9733093B2 (en) 2008-05-30 2017-08-15 Here Global B.V. Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
US20100106374A1 (en) * 2008-10-28 2010-04-29 Aisin Aw Co., Ltd. Vehicle stabilization control device
US8224526B2 (en) * 2008-10-28 2012-07-17 Aisin Aw Co., Ltd. Vehicle stabilization control device
CN102202948B (en) 2008-10-28 2014-05-07 株式会社爱德克斯 Device for controlling traveling of vehicle
US9139173B2 (en) * 2008-10-28 2015-09-22 Advics Co., Ltd. Device for controlling traveling of vehicle
US20110178689A1 (en) * 2008-10-28 2011-07-21 Advics Co., Ltd. Device for controlling traveling of vehicle
CN102202948A (en) * 2008-10-28 2011-09-28 株式会社爱德克斯 Device for controlling traveling of vehicle
US9495876B2 (en) 2009-07-27 2016-11-15 Magna Electronics Inc. Vehicular camera with on-board microcontroller
US10106155B2 (en) 2009-07-27 2018-10-23 Magna Electronics Inc. Vehicular camera with on-board microcontroller
US9789821B2 (en) 2009-09-01 2017-10-17 Magna Electronics Inc. Imaging and display system for vehicle
US10053012B2 (en) 2009-09-01 2018-08-21 Magna Electronics Inc. Imaging and display system for vehicle
US9041806B2 (en) 2009-09-01 2015-05-26 Magna Electronics Inc. Imaging and display system for vehicle
CN101807315A (en) * 2010-04-14 2010-08-18 张华昱 Sensing type automobile driving state recording and warning device
US9900522B2 (en) 2010-12-01 2018-02-20 Magna Electronics Inc. System and method of establishing a multi-camera image using pixel remapping
US9264672B2 (en) 2010-12-22 2016-02-16 Magna Mirrors Of America, Inc. Vision display system for vehicle
US9731653B2 (en) 2010-12-22 2017-08-15 Magna Electronics Inc. Vision display system for vehicle
US9598014B2 (en) 2010-12-22 2017-03-21 Magna Electronics Inc. Vision display system for vehicle
US9469250B2 (en) 2010-12-22 2016-10-18 Magna Electronics Inc. Vision display system for vehicle
US9950738B2 (en) 2011-01-26 2018-04-24 Magna Electronics Inc. Trailering assist system with trailer angle detection
US9085261B2 (en) 2011-01-26 2015-07-21 Magna Electronics Inc. Rear vision system with trailer angle detection
US9834153B2 (en) 2011-04-25 2017-12-05 Magna Electronics Inc. Method and system for dynamically calibrating vehicular cameras
US9357208B2 (en) 2011-04-25 2016-05-31 Magna Electronics Inc. Method and system for dynamically calibrating vehicular cameras
US9491450B2 (en) 2011-08-01 2016-11-08 Magna Electronic Inc. Vehicle camera alignment system
US9919705B2 (en) 2011-10-27 2018-03-20 Magna Electronics Inc. Driver assist system with image processing and wireless communication
US9146898B2 (en) 2011-10-27 2015-09-29 Magna Electronics Inc. Driver assist system with algorithm switching
US9491451B2 (en) 2011-11-15 2016-11-08 Magna Electronics Inc. Calibration system and method for vehicular surround vision system
US10099614B2 (en) 2011-11-28 2018-10-16 Magna Electronics Inc. Vision system for vehicle
US10071687B2 (en) 2011-11-28 2018-09-11 Magna Electronics Inc. Vision system for vehicle
US9762880B2 (en) 2011-12-09 2017-09-12 Magna Electronics Inc. Vehicle vision system with customized display
US10129518B2 (en) 2011-12-09 2018-11-13 Magna Electronics Inc. Vehicle vision system with customized display
US9558409B2 (en) 2012-09-26 2017-01-31 Magna Electronics Inc. Vehicle vision system with trailer angle detection
US9779313B2 (en) 2012-09-26 2017-10-03 Magna Electronics Inc. Vehicle vision system with trailer angle detection
US10089541B2 (en) 2012-09-26 2018-10-02 Magna Electronics Inc. Vehicular control system with trailering assist function
US9446713B2 (en) 2012-09-26 2016-09-20 Magna Electronics Inc. Trailer angle detection system
US9802542B2 (en) 2012-09-26 2017-10-31 Magna Electronics Inc. Trailer angle detection system calibration
US9723272B2 (en) 2012-10-05 2017-08-01 Magna Electronics Inc. Multi-camera image stitching calibration system
US9769381B2 (en) 2013-05-06 2017-09-19 Magna Electronics Inc. Vehicular multi-camera vision system
US10057489B2 (en) 2013-05-06 2018-08-21 Magna Electronics Inc. Vehicular multi-camera vision system
US9508014B2 (en) 2013-05-06 2016-11-29 Magna Electronics Inc. Vehicular multi-camera vision system
US9979957B2 (en) 2013-05-21 2018-05-22 Magna Electronics Inc. Vehicle vision system with targetless camera calibration
US9205776B2 (en) 2013-05-21 2015-12-08 Magna Electronics Inc. Vehicle vision system using kinematic model of vehicle motion
US9701246B2 (en) 2013-05-21 2017-07-11 Magna Electronics Inc. Vehicle vision system using kinematic model of vehicle motion
US9563951B2 (en) 2013-05-21 2017-02-07 Magna Electronics Inc. Vehicle vision system with targetless camera calibration
US9487235B2 (en) 2014-04-10 2016-11-08 Magna Electronics Inc. Vehicle control system with adaptive wheel angle correction
US9916660B2 (en) 2015-01-16 2018-03-13 Magna Electronics Inc. Vehicle vision system with calibration algorithm
US10086870B2 (en) 2015-08-18 2018-10-02 Magna Electronics Inc. Trailer parking assist system for vehicle
US20170116853A1 (en) * 2015-10-26 2017-04-27 Denso Corporation Vehicle driving assistance apparatus
US10002534B2 (en) * 2015-10-26 2018-06-19 Denso Corporation Vehicle driving assistance apparatus
US10132971B2 (en) 2016-03-04 2018-11-20 Magna Electronics Inc. Vehicle camera with multiple spectral filters
US10144352B2 (en) 2017-08-14 2018-12-04 Magna Electronics Inc. Vision display system for vehicle

Also Published As

Publication number Publication date Type
DE19602772C2 (en) 1998-07-23 grant
DE19602772A1 (en) 1996-08-08 application
JPH08205306A (en) 1996-08-09 application

Similar Documents

Publication Publication Date Title
US6017102A (en) Automatic-braking control system for a motor vehicle
US6359553B1 (en) Method and control arrangement for minimizing consequences of accidents
US6021375A (en) Vehicle safety running control system
US6879890B2 (en) Lane keep control apparatus and method for automotive vehicle
US20110313665A1 (en) Method for Automatically Detecting a Driving Maneuver of a Motor Vehicle and a Driver Assistance System Comprising Said Method
US6134497A (en) Vehicle running control apparatus and vehicle running control method
US5432509A (en) Warning apparatus for a vehicle
US6567748B2 (en) Motion control system for vehicle
US6665603B2 (en) Vehicle traveling control system
US20040085197A1 (en) Vehicle collision preventing apparatus
US20040155811A1 (en) Motor vehicle driving aid system
US7145441B2 (en) Method and device for preventing collision of vehicles
US20050125125A1 (en) Lane keep control apparatus and method for automotive vehicle
US20040107035A1 (en) System and method for preventing lane deviation of vehicle
US20050273261A1 (en) Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same
US20100030430A1 (en) Vehicle driving control apparatus and vehicle driving control method
US7392120B2 (en) Vehicle dynamics control apparatus
US20080059037A1 (en) Vehicle control system
US20100211235A1 (en) Travel control device
US7698032B2 (en) Automotive lane deviation prevention apparatus
US7236884B2 (en) Automotive lane deviation prevention apparatus
US20040230375A1 (en) Automotive lane deviation prevention apparatus
US20060163943A1 (en) Method and device for automatically initiating an emergency brake procedure in motor vehicles
US5808561A (en) Drive assist system for a vehicle and the method thereof
US6973380B2 (en) Lane keep control apparatus and method for automotive vehicle

Legal Events

Date Code Title Description
AS Assignment

Owner name: FUJI JUKOGYO KABUSHIKI KAISHA, JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KINOSHITA, MASAHIRO;IKEDA, ATSUSHI;ARAI, KAZUMASA;REEL/FRAME:007958/0072;SIGNING DATES FROM 19960222 TO 19960223

FPAY Fee payment

Year of fee payment: 4

FPAY Fee payment

Year of fee payment: 8

FPAY Fee payment

Year of fee payment: 12

AS Assignment

Owner name: FUJI JUKOGYO KABUSHIKI KAISHA, JAPAN

Free format text: CHANGE OF ADDRESS;ASSIGNOR:FUJI JUKOGYO KABUSHIKI KAISHA;REEL/FRAME:033989/0220

Effective date: 20140818